#!/bin/sh
#
# @name Generic Dodecarotor cox geometry
#
# @type Dodecarotor cox
# @class Copter
#
# @maintainer Ian McNanie <ianmcnanie@gmail.com>
# @maintainer William Peale <develop707@gmail.com>
#
# @board bitcraze_crazyflie exclude
# @board px4_fmu-v2 exclude
#

. ${R}etc/init.d/rc.mc_defaults

param set-default NAV_ACC_RAD 2

param set-default RTL_DESCEND_ALT 10
param set-default RTL_RETURN_ALT 30


param set-default CA_ROTOR_COUNT 12
# Bottom motors
param set-default CA_ROTOR0_PX 0
param set-default CA_ROTOR0_PY 0.5
param set-default CA_ROTOR0_PZ 0.05
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY -0.5
param set-default CA_ROTOR1_PZ 0.05
param set-default CA_ROTOR2_PX 0.433
param set-default CA_ROTOR2_PY -0.25
param set-default CA_ROTOR2_PZ 0.05
param set-default CA_ROTOR3_PX -0.433
param set-default CA_ROTOR3_PY 0.25
param set-default CA_ROTOR3_PZ 0.05
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX 0.433
param set-default CA_ROTOR4_PY 0.25
param set-default CA_ROTOR4_PZ 0.05
param set-default CA_ROTOR4_KM -0.05
param set-default CA_ROTOR5_PX -0.344
param set-default CA_ROTOR5_PY -0.25
param set-default CA_ROTOR5_PZ 0.05

# Top motors
param set-default CA_ROTOR6_PX 0
param set-default CA_ROTOR6_PY 0.5
param set-default CA_ROTOR6_PZ -0.05
param set-default CA_ROTOR6_KM -0.05
param set-default CA_ROTOR7_PX 0
param set-default CA_ROTOR7_PY -0.5
param set-default CA_ROTOR7_PZ -0.05
param set-default CA_ROTOR8_PX 0.433
param set-default CA_ROTOR8_PY -0.25
param set-default CA_ROTOR8_PZ -0.05
param set-default CA_ROTOR8_KM -0.05
param set-default CA_ROTOR9_PX -0.433
param set-default CA_ROTOR9_PY 0.25
param set-default CA_ROTOR9_PZ -0.05
param set-default CA_ROTOR10_PX 0.433
param set-default CA_ROTOR10_PY 0.25
param set-default CA_ROTOR10_PZ -0.05
param set-default CA_ROTOR11_PX -0.344
param set-default CA_ROTOR11_PY -0.25
param set-default CA_ROTOR11_PZ -0.05
param set-default CA_ROTOR11_KM -0.05

